{"id":"https://openalex.org/W4405361775","doi":"https://doi.org/10.1109/lars64411.2024.10786448","title":"Rotor Fault Detection and Isolation in Aerial Vehicles with Dozens of Rotors","display_name":"Rotor Fault Detection and Isolation in Aerial Vehicles with Dozens of Rotors","publication_year":2024,"publication_date":"2024-11-11","ids":{"openalex":"https://openalex.org/W4405361775","doi":"https://doi.org/10.1109/lars64411.2024.10786448"},"language":"en","primary_location":{"id":"doi:10.1109/lars64411.2024.10786448","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars64411.2024.10786448","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 Latin American Robotics Symposium (LARS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103032224","display_name":"Neeraj Gandhi","orcid":"https://orcid.org/0000-0002-2507-9136"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Neeraj Gandhi","raw_affiliation_strings":["University of Pennsylvania,Philadelphia,PA,USA"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Philadelphia,PA,USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101432897","display_name":"Jiawei Xu","orcid":"https://orcid.org/0000-0002-2732-086X"},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiawei Xu","raw_affiliation_strings":["Lehigh University,Bethlehem,PA,USA"],"affiliations":[{"raw_affiliation_string":"Lehigh University,Bethlehem,PA,USA","institution_ids":["https://openalex.org/I186143895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023803863","display_name":"David Salda\u00f1a","orcid":"https://orcid.org/0000-0003-2442-4257"},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Salda\u00f1a","raw_affiliation_strings":["Lehigh University,Bethlehem,PA,USA"],"affiliations":[{"raw_affiliation_string":"Lehigh University,Bethlehem,PA,USA","institution_ids":["https://openalex.org/I186143895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044382286","display_name":"Linh Thi Xuan Phan","orcid":"https://orcid.org/0000-0002-3458-7511"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Linh Thi Xuan Phan","raw_affiliation_strings":["University of Pennsylvania,Philadelphia,PA,USA"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Philadelphia,PA,USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103032224"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.28042047,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14257","display_name":"Advanced Measurement and Detection Methods","score":0.90829998254776,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.6847342252731323},{"id":"https://openalex.org/keywords/isolation","display_name":"Isolation (microbiology)","score":0.635535717010498},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.6201353669166565},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.48921704292297363},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.4791966378688812},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4297628402709961},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.3832780718803406},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.36049962043762207},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.3385818302631378},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27860626578330994},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23114490509033203},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.20919030904769897},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1539977788925171},{"id":"https://openalex.org/keywords/seismology","display_name":"Seismology","score":0.12864908576011658},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.0934903621673584}],"concepts":[{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.6847342252731323},{"id":"https://openalex.org/C2775941552","wikidata":"https://www.wikidata.org/wiki/Q25212305","display_name":"Isolation (microbiology)","level":2,"score":0.635535717010498},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.6201353669166565},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.48921704292297363},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.4791966378688812},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4297628402709961},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.3832780718803406},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.36049962043762207},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.3385818302631378},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27860626578330994},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23114490509033203},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.20919030904769897},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1539977788925171},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","level":1,"score":0.12864908576011658},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.0934903621673584},{"id":"https://openalex.org/C89423630","wikidata":"https://www.wikidata.org/wiki/Q7193","display_name":"Microbiology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lars64411.2024.10786448","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars64411.2024.10786448","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 Latin American Robotics Symposium (LARS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1605160584","https://openalex.org/W2062803637","https://openalex.org/W2083082569","https://openalex.org/W2089090747","https://openalex.org/W2154174243","https://openalex.org/W2891339434","https://openalex.org/W2892035765","https://openalex.org/W2980589297","https://openalex.org/W2991621186","https://openalex.org/W3003428969","https://openalex.org/W3045731307","https://openalex.org/W3205950827","https://openalex.org/W4294975929","https://openalex.org/W4320478303","https://openalex.org/W4388145564","https://openalex.org/W6810342598","https://openalex.org/W6875437574"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2394779770","https://openalex.org/W2415102733","https://openalex.org/W4386784740","https://openalex.org/W2056273954","https://openalex.org/W2072346427","https://openalex.org/W2487222174","https://openalex.org/W2068583297","https://openalex.org/W2123050621","https://openalex.org/W2350459724"],"abstract_inverted_index":{"Aerial":[0],"vehicles":[1,86,180],"with":[2,20,87,181],"dozens":[3,218],"of":[4,38,43,71,91,103,150,205,219],"rotors":[5,39,185,189],"are":[6],"becoming":[7],"increasingly":[8],"common":[9],"in":[10,112,115,132,177,191],"important":[11],"applications":[12],"such":[13,22],"as":[14,35],"transportation":[15],"and":[16,69,80,114,147,174,195],"construction.":[17],"One":[18],"challenge":[19],"building":[21],"a":[23,44,61,88,104,151],"system":[24,30],"is":[25,31,137,211],"to":[26,122,139,161,183,216],"ensure":[27],"that":[28,168,196,214],"the":[29,36,41,52,58,67,72,101,109,130,141,144,148,203,212],"robust":[32],"against":[33],"faults:":[34],"number":[37,90],"increases,":[40],"likelihood":[42],"rotor":[45,62,106,126],"failing":[46],"during":[47],"operation":[48],"also":[49],"increases;":[50],"despite":[51],"spare":[53],"thrust":[54],"capacity":[55],"provided":[56],"by":[57],"redundant":[59],"rotors,":[60],"fault":[63,78],"can":[64,119,157,171,198],"significantly":[65],"impact":[66],"motion":[68],"safety":[70],"system.This":[73],"paper":[74],"presents":[75],"an":[76],"efficient":[77],"detection":[79],"isolation":[81],"(FDI)":[82],"method":[83,210],"for":[84],"aerial":[85,179],"large":[89],"rotors.":[92,164,220],"Our":[93],"approach":[94],"relies":[95],"on":[96],"two":[97],"key":[98],"insights:":[99],"First,":[100],"effect":[102],"faulty":[105,125,163],"directly":[107],"affects":[108],"tracking":[110],"error":[111,131],"roll":[113,134],"pitch.":[116],"This":[117],"property":[118],"be":[120],"used":[121],"order":[123],"our":[124,169,206,208],"search":[127],"space.":[128],"Second,":[129],"either":[133],"or":[135],"pitch":[136],"related":[138],"both":[140],"distance":[142],"from":[143],"(relevant)":[145],"axis":[146],"severity":[149],"fault.":[152],"With":[153],"these":[154],"observations,":[155],"we":[156],"use":[158],"probe":[159],"faults":[160,176],"isolate":[162,175],"Evaluation":[165],"results":[166],"show":[167],"technique":[170],"efficiently":[172],"detect":[173],"multi-rotor":[178],"up":[182],"64":[184],"($8":[186],"\\times$":[187],"more":[188],"than":[190],"existing":[192],"FDI":[193,209],"work),":[194],"it":[197],"help":[199],"improve":[200],"robustness.":[201],"To":[202],"best":[204],"knowledge,":[207],"first":[213],"scales":[215],"several":[217]},"counts_by_year":[],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}
